Electric drive system with differential steering

ABSTRACT

An electric drive system is provided. The electric drive system includes a first output member, a second output member, and an electric motor that includes an output shaft having an axis of rotation. The output shaft is operatively engaged with the first and second output members to rotate the first and second output members. A differential steering system is disposed between the electric motor and the first and second output members. The differential steering system includes at least one planetary gear assembly that has an axis of rotation that substantially aligns with the axis of rotation of the output shaft. A steering motor is operatively engaged with the at least one planetary gear assembly and is operable to modify the rotational speed of the at least one planetary gear assembly to thereby adjust the rotational speed of one of the first and second output members relative to the other of the first and second output members.

This application claims the benefit of the filing date of and is a continuation of U.S. application Ser. No. 10/268,759, filed Oct. 11, 2002, now U.S. Pat. No. 6,892,837, issued May 17, 2005.

TECHNICAL FIELD

The present invention is directed to an electric drive system and, more particularly, to an electric drive system with differential steering.

BACKGROUND

An electric drive may be used as source of driving power in a vehicle, such as, for example, an off-road work machine, a highway truck, or an automobile. An electric drive may supplement the driving power provided by an internal combustion engine or the electric drive may provide all of the driving power for the vehicle. Using an electric drive to supplement or replace the internal combustion engine may reduce the emissions generated during the operation of the vehicle. In addition, the electric drive may increase the fuel efficiency of the vehicle.

An electric drive typically includes a source of electrical power and an electric motor that is connected to one or more ground engaging devices on the vehicle. The source of electrical power, which may be, for example, a battery or an engine, provides the power that is used to operate the electric motor to generate an output torque. The output torque is transferred to the ground engaging devices on the vehicle to thereby propel the vehicle.

Some vehicles, such as tracked work machines, may include a differential steering system that is disposed between the electric motor and the ground engaging devices on the vehicle. A differential steering system may include one or more planetary gear assemblies and a steering motor. The differential steering system is operable to change the relative speeds of the ground engaging devices to thereby change the direction of travel of the vehicle. When a ground engaging device on one side of the vehicle is driven at a slower speed than a ground engaging device on the other side of the vehicle, the vehicle will tend to turn towards the slower moving ground engaging device.

In a typical electric drive, such as the electric drive described in U.S. Pat. No. 6,024,182 to Hamada et al., the output torque of an electric motor is transferred from the electric motor to a differential system through a gear transfer system that may include, for example, a bevel or spur gear arrangement. However, the use of a bevel or spur gear arrangement is an inefficient method of transferring the torque of the motor to the ground engaging devices. Some of the torque generated by the electric motor may be lost in the torque transfer. These gear losses decrease the efficiency of the electric drive and the overall efficiency of the vehicle.

The electric drive system of the present invention solves one or more of the problems set forth above.

SUMMARY OF THE INVENTION

One aspect of the present invention is directed to an electric drive system that includes a first output member, a second output member, and an electric motor that includes an output shaft having an axis of rotation. The output shaft is operatively engaged with the first and second output members to rotate the first and second output members. A differential steering system is disposed between the electric motor and the first and second output members. The differential steering system includes at least one planetary gear assembly that has an axis of rotation that substantially aligns with the axis of rotation of the output shaft. A steering motor is operatively engaged with the at least one planetary gear assembly and is operable to modify the rotational speed of the at least one planetary gear assembly to thereby adjust the rotational speed of one of the first and second output members relative to the other of the first and second output members.

In another aspect, the present invention is directed to a method of assembling an electric drive system. An electric motor including an output shaft having an axis of rotation is provided. The electric motor is operable to rotate a first output member and a second output member. A differential steering system having at least one planetary gear assembly is disposed between the electric motor and the first and second output members such that an axis of rotation of the planetary gear assembly substantially aligns with the axis of rotation of the output shaft. A steering motor is engaged with the differential steering system. The steering motor is operable to modify the rotational speed of the at least one planetary gear assembly to thereby adjust the rotational speed of one of the first and second output members relative to the other of the first and second output members.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an exemplary embodiment of the invention and together with the description, serve to explain the principles of the invention. In the drawings:

FIG. 1 is a schematic and diagrammatic representation of an electric drive system in accordance with an exemplary embodiment of the present invention; and

FIG. 2 is a sectional view of an electric drive system in accordance with an exemplary embodiment of the present invention.

DETAILED DESCRIPTION

Reference will now be made in detail to an exemplary embodiment of the present invention, which is illustrated in the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts.

As schematically and diagrammatically illustrated in FIG. 1, a vehicle 20 may include an electric drive system 26. Electric drive system 26 may be operatively engaged with a first ground engaging device 22 and a second ground engaging device 24. First and second ground engaging devices 22 and 24 may be, for example, tracks, belts, wheels, or any other ground engaging device readily apparent to one skilled in the art.

As also shown in FIG. 1, electric drive system 26 includes a housing 38, and an electric motor 28 that has an output in the form of a driving shaft 30. Vehicle 20 may include an electrical power source (not shown) that may be, for example, a battery or an engine, such as an internal combustion engine, with a generator. In response to an application of electrical power, electric motor 28 exerts a torque on driving shaft 30. The magnitude and direction of the exerted torque depends upon the magnitude and polarity of the electrical power that is applied to electric motor 28.

In response to the exerted torque, driving shaft 30 may begin to rotate. As shown in FIGS. 1 and 2, output shaft 30 of electric motor 28 is configured to rotate about an axis of rotation that aligns with a reference axis 32. The speed at which driving shaft 30 rotates depends upon several factors, including, for example, the magnitude of the torque exerted by electric motor 28 and the load on driving shaft 30.

Referring to FIG. 1, electric drive system 26 also includes a differential steering system 40, a first output member 34, and a second output member 36. First output member 34 is operatively connected to first ground engaging device 22. Second output member 36 is operatively connected to second ground engaging device 24.

In the illustrated embodiment, electric drive 26 may include a first sprocket 66 and a second sprocket 68. First sprocket 66 may be connected to first output member 34 and configured to engage first ground engaging device 22. Second sprocket 68 may be connected to second output member 36 and configured to engage second ground engaging device 24. First and second sprockets 66 and 68 drive first and second ground engaging devices 22 and 24 in response to rotation of first and second output members 34 and 36.

In the exemplary embodiment illustrated in FIGS. 1 and 2, differential steering system 40 includes a first planetary gear assembly 42, a second planetary gear assembly 44, and a third planetary gear assembly 46. One skilled in the art will recognize that differential steering system 40 may have a variety of different configurations and may include a greater or lesser number of planetary gear assemblies.

Each of the first, second, and third planetary gear assemblies 42, 44, and 46 includes a sun gear 50, a planet gear set 52, and a ring gear 54. Each sun gear 50 is configured to rotate about an axis and to mesh with the respective planet gear set 52. Planet gear set 52 orbits about sun gear 50 and meshes with the respective ring gear 54. Each ring gear 54 may be configured to rotate about the axis of rotation of sun gear 50 or each ring gear 54 may be fixed relative to housing 38 to prevent ring gear 54 from rotating.

As shown in FIGS. 1 and 2, the rotational axis of each of first, second, and third planetary gear assemblies 42, 44, and 46 substantially aligns with the reference axis 32. In addition, the rotational axis of each sun gear 50 and each planet gear set 52 of each of first, second, and third planetary gear assemblies 42, 44, and 46 substantially aligns with the reference axis 32. Thus, the rotational axis of each of first, second, and third planetary gear assemblies 42, 44, and 46 substantially aligns with the rotational axis of driving shaft 30 of electric motor 28.

A fourth planetary gear assembly 48 may be positioned between driving shaft 30 and first planetary gear assembly 42. Fourth planetary gear assembly 48 also includes a sun gear 50, a planet gear set 52, and a ring gear 54. Sun gear 50 meshes planet gear set 52, and planet gear set 52 meshes with ring gear 54. The rotational axis of fourth planetary gear assembly 48 may also substantially align with reference axis 32.

As one skilled in the art will recognize, a planetary gear assembly receives an input rotation at a first speed and generates a corresponding output rotation at a second speed. The change in rotational speed between the input and the output depends upon the number of teeth in sun gear 50, planet gear set 52, and ring gear 54. The change in rotational speed also depends upon the gears that are used to receive the input rotation and the gear that is selected to provide the output rotation.

The input rotation may be delivered to a planetary gear assembly through one or two of sun gear 50, planet gear set 52, and ring gear 54. If only one of sun gear 50, planet gear set 52, and ring gear 54 receives the input rotation then one of sun gear 50, planet gear set 52, and ring gear 54 may be fixed to housing 38. The output rotation will be generated in the remaining one of sun gear 50, planet gear set 52, and ring gear 54.

In the illustrated embodiment, fourth planetary gear assembly 48 is configured to reduce the rotational speed of driving shaft 30 of electric motor 28. The output of fourth planetary gear assembly 48 is used as an input to differential steering system 40. In this manner, the torque generated by electric motor 28 may be transferred to differential steering system 40 at a reduced rotational speed.

As shown, driving shaft 30 of electric motor 28 is connected to sun gear 50 of fourth planetary gear assembly 48. Ring gear 54 of fourth planetary gear assembly 48 is fixed to a housing 38. Planet gear set 52 of fourth planetary gear assembly 48 is connected to planet gear set 52 of first planetary gear assembly 42.

A rotation of driving shaft 30 causes a corresponding rotation of sun gear 50. The rotation of sun gear 50 causes planet gear set 52 to orbit about sun gear 50 at a reduced rotational speed. The amount of reduction in the rotational speed depends upon the number of teeth in sun gear, planet gear set 52, and ring gear 54 of fourth planetary gear assembly 48. The reduced rotational speed of planet gear set 52 of fourth planetary gear assembly is transferred to differential steering system 40 as an input rotation to planet gear set 52 of first planetary gear assembly 42.

As shown in FIG. 1, first planetary gear assembly 42 is connected to both second planetary gear assembly 44 and third planetary gear assembly 46. Ring gear 54 of first planetary gear assembly 42 is connected to planet gear set 52 of second planetary gear assembly 44. A reaction member 56 connects sun gear 50 of first planetary gear assembly 42 to sun gears 50 of both second and third planetary gear assemblies 44 and 46. As shown, driving shaft 30 of electric motor 28 may be hollow and include an opening through which reaction member 56 extends. In this manner, the rotational axis of reaction member 56 may also substantially align with reference axis 32.

First planetary gear assembly 42 provides an input rotation to both second planetary gear assembly 44 and third planetary gear assembly 46. A rotation of planet gear set 52 of first planetary gear assembly 42 causes a corresponding rotation of the associated sun gear 50 and of reaction member 56. The rotation of reaction member 56 provides an input rotation to sun gears 50 of both second and third planetary gear assemblies 44 and 46.

The rotation of sun gears 50 of second and third planetary gear assemblies 44 and 46 causes planet gear sets 52 to orbit about sun gears 50. In the illustrated embodiment, first, second, and third planetary gear assemblies 42, 44, and 46 are configured so that when ring gears 54 of second and third planetary gear assembly 44 and 46 are held stationary, planet gear sets 52 will orbit about sun gears 50 at the same rotational speed. One skilled in the art will recognize that planetary gear assemblies 42, 44, and 46 may have a variety of gear reduction ratios, depending upon the expected operating conditions of vehicle 20.

The rotational speed of planet gear sets 52 of second and third planetary gear assemblies 44 and 46 provides the output rotation of second and third planetary gear assemblies 44 and 46. The rotational speed of planet gear set 52 of second planetary gear assembly 44 is transferred to first output member 34 to thereby drive first ground engaging device 22 at a corresponding speed. The rotational speed of planet gear set 52 of third planetary gear assembly 46 is transferred to second output member 36 to thereby drive second ground engaging device 24 at a corresponding speed.

The rotational speed of planet gear sets 52 of second and third planetary gear assemblies 44 and 46 may be altered by providing an additional input to one or both of the ring gears 54 in second and third planetary gear assemblies 44 and 46. In the illustrated embodiment, ring gear 54 of second planetary gear assembly 44 is configured to rotate about reference axis 32, whereas ring gear 54 of third planetary gear assembly 46 is fixed to housing 38. Alternatively, ring gear 54 of third planetary gear assembly 46 may be configured to rotate about reference axis 32 and ring gear 54 of second planetary gear assembly 44 may be fixed to housing 38 or both ring gears 54 may be configured to rotate about reference axis 32.

As illustrated in FIG. 1, vehicle 20 may also include a steering motor 70 that provides an additional input to differential steering system 40. Steering motor 70 is operable to rotate an output shaft 72. Steering motor 70 may be, for example, an electrical motor or a hydraulic motor.

In the illustrated embodiment, output shaft 72 is connected to ring gear 54 of second planetary gear assembly 44 through a set of transfer gears 74 and an engagement gear 76. Rotation of output shaft 72 in a first direction will cause ring gear 54 of second planetary gear assembly 44 to rotate in a first direction. Rotation of output shaft 72 in a second direction will cause ring gear 54 of second planetary gear assembly 44 to rotate in the opposite direction.

The operation of steering motor 70 may be governed by an input signal S₁. The input signal S₁ may be generated by a control (not shown) in response to an instruction from an operator to turn the vehicle in a certain direction at a certain turning radius. The control may control steering motor 70 to generate a desired direction and speed of rotation in driving shaft 30.

As also illustrated in FIG. 1, a first brake 58 may be configured to engage first output member 34 and a second brake 60 may be configured to engage second output member 36. First and second brakes 58 and 60 may be operated to reduce the rotational speed of first and second output members 34 and 36, respectively. First and second brakes 58 and 60 may therefore be operated to reduce the speed of vehicle 20. In addition, first and second brakes 58 and 60 may be engaged with first and second output members 34 and 36, respectively, when vehicle 20 is stationary to thereby prevent vehicle 20 from moving.

As further shown in FIG. 1, a first final drive assembly 62 may be disposed between first output member 34 and first sprocket 66 and a second final drive assembly 64 may be disposed between second output member 36 and second sprocket 68. Each final drive assembly 62 and 64 may be a planetary gear assembly that includes a sun gear 50, a planet gear set 52, and a ring gear 54. The rotational axis of each final drive assembly 62 and 64 may substantially align with reference axis 32.

Each final drive assembly 62 and 64 may provide a gear reduction between the first and second output members 34 and 36 and first and second sprockets 66 and 68. For example, the gear reduction of first and second final drives 62 and 64 may be 5:1. One skilled in the art will recognize that final drives 62 and 64 may provide any gear reduction to meet the operational requirements of vehicle 20.

FIG. 2 illustrates an exemplary configuration of electric drive 26. As shown, first, second, and fourth planetary gear assemblies 42, 44, and 48 may be installed in housing 38 from a first side 78. First brake 58, first final drive 62, and first sprocket 66 may also be installed on first side 78. Electric motor 28 and third planetary gear assembly 46 may be installed from a second side 80 of housing 38. Second brake 60, second final drive 64, and second sprocket 68 may also be installed from second side 80. Steering motor 70, transfer gear 74, and engagement gear 76 (referring to FIG. 1) may then be connected to housing 38 to engage differential steering system 40. One skilled in the art will recognize that these installation steps may be performed in any order that may facilitate assembly of electric drive 26.

INDUSTRIAL APPLICABILITY

An electric drive 26 according to the present disclosure may be included in a vehicle 20 to propel the vehicle 20. Vehicle 20 may be, for example, a work machine, such as a track layer. One skilled in the art will recognize that electric drive 26 may be included in other types of vehicles, such as, for example, other work machines, on or off highway trucks, or automobiles.

Vehicle 20 may include an internal combustion engine or an electrical storage device that supplies electrical power to electric drive 26. A control may govern the generation and/or supply of electrical power to electric drive 26 in response to instructions from an operator. For example, the supply of electrical power to electric drive 26 may be increased when the operator provides an instruction to increase the speed of vehicle 20.

In response to the application of electric power to electric drive 26, electric motor 28 exerts a torque on driving shaft 30. The magnitude and polarity of the electrical power applied to the electric motor 28 determines the direction and magnitude of the torque exerted on driving shaft 30. The torque exerted by electric motor 28 causes driving shaft 30 to rotate.

The rotational speed of driving shaft 30 is reduced by fourth planetary gear assembly 48 to an output rotation of planet gear set 52. The rotation of planet gear set 52 of fourth planetary gear assembly 48 is directed as an input to first planet gear set 52 of first planetary gear assembly 42 in differential steering system 40. The rotational speed of planet gear set 52 of first planetary gear assembly 42 causes a corresponding rotation of sun gear 50 of first planetary gear assembly 42 and of reaction member 56.

The rotation of reaction member 56 drives sun gears 50 of second and third planetary gear assemblies 44 and 46. The rotation of sun gears 50 of second and third planetary gear assemblies 44 and 46 causes planet gear sets 52 of both second and third planetary gear assemblies 44 and 46 to rotate. The rotation of planet gear set 52 of second planetary gear assembly 44 is transferred through first final drive 62 and first sprocket 66 to thereby drive first ground engaging device 22. The rotation of planet gear set 52 of third planetary gear assembly 46 is transferred through second final drive 64 and second sprocket 68 through to thereby drive second ground engaging device 24.

When the operator instructs the vehicle to travel in a straight line, steering motor 70 is held stationary. Steering motor 70 exerts a resistive torque against ring gear 54 of second planetary gear assembly 44 to thereby prevent ring gear 54 from rotating. Accordingly, planet gear sets 52 of both second and third planetary gear assemblies 44 and 46 will rotate at substantially the same speed. This results in the first and second ground engaging devices 22 and 24 being driven at substantially the same speed. Thus, when ring gear 54 of second planetary gear assembly 44 is stationary, vehicle 20 will travel in substantially a straight line.

When the operator instructs the vehicle to turn in a certain direction, steering motor 70 is operated to provide an additional input into differential steering system 40. Steering motor 70 may cause ring gear 54 of second planetary gear assembly 44 to rotate in a first direction at a certain speed to cause vehicle 20 to turn in a first direction at a certain turning radius. Steering motor 70 may also cause ring gear 54 of second planetary gear assembly 44 to rotate in a second direction at a certain speed to cause vehicle 20 to turn in a second direction at a certain turning radius.

Rotating ring gear 54 of second planetary gear assembly 44 in a first direction may decrease the rotational speed of planet gear set 52 of second planetary gear assembly 44 relative to the rotational speed of planet gear set 52 of third planetary gear assembly 46. This change in the relative speeds causes first output member 34 to rotate slower than second output member 36. Thus, first ground engaging device 22 will be driven at a slower speed than second ground engaging device 24. This will cause vehicle 20 to turn in the direction of first ground engaging device 22.

Rotating ring gear 54 of second planetary gear assembly 44 in a second direction may increase the rotational speed of planet gear set 52 of second planetary gear assembly 44 relative to the rotational speed of planet gear set 52 of third planetary gear assembly 46. This change in relative speed causes first output member 34 to rotate faster than second output member 36. Thus, first ground engaging device 22 will be driven at a faster speed than second ground engaging device 24. This will cause vehicle 20 to turn in the direction of second ground engaging device 24.

The turning rate of vehicle 20 is determined by the magnitude of the difference in relative speeds of first and second ground engaging devices 22 and 24. Increasing the rotational speed of ring gear 54 of second planetary gear assembly 44 will increase the magnitude of the difference in rotational speed between first and second output members 34 and 36. Thus, an increase in the rotational speed of output shaft 72 of steering motor 70 will cause an increase in the turning rate of vehicle 20. Conversely, a decrease in the rotational speed of output shaft 72 of steering motor 70 will cause a decrease in the turning rate of vehicle 20.

As will be apparent from the foregoing description, the present invention provides an electric drive 26 in which the rotational axis of an electric motor 28 substantially aligns with the rotational axis of a planetary differential system 40. By aligning the rotational axes in this fashion, the output torque of electric motor 28 may be delivered directly to differential steering system 40 without the need for a bevel or spur gear transfer arrangement. This results in a reduction in gear losses associated with transferring torque from the electric motor 28 to a ground engaging device. Thus, the described electric drive 26 will increase the efficiency of electric drive 26 and vehicle 20.

In addition, by configuring the electric drive 26 as described herein, the overall size of the electric drive 26 may be reduced. The reduction in size of the electric drive may free additional space in the vehicle. The additional space may be used to house other components or systems in vehicle 20.

It will be apparent to those skilled in the art that various modifications and variations can be made in the electric drive system of the present invention without departing from the scope of the invention. Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope of the invention being indicated by the following claims and their equivalents. 

1. An electric drive system having an electric motor, comprising: a first output member; a second output member; a driving shaft drivable by the electric motor and having an axis of rotation; a differential steering system operably disposed between the driving shaft and the first and second output members such that the driving shaft conveys torque from the electric motor to the differential steering system, the differential steering system including a first planetary gear assembly operatively engaged between the driving shaft and the first output member and operatively engaged between the driving shaft and the second output member, the first planetary gear assembly having an axis of rotation that substantially aligns with the axis of rotation of the driving shaft; a steering motor operatively engaged with the differential steering system and operable to simultaneously adjust the rotational speed of both of the first and second output members to change the rotational speed of one of the first and second output members relative to the other of the first and second output members; a second planetary gear assembly operatively engaged between the first planetary gear assembly and the first output member, the second planetary gear assembly having a sun gear connected to a sun gear of the first planetary gear assembly and having an axis of rotation that substantially aligns with the axis of rotation of the driving shaft, wherein the steering motor is operatively engaged with the second planetary gear assembly and operable to modify the rotational speed of the second planetary gear assembly to thereby simultaneously adjust the rotational speed of both of the first and second output members to change the rotational speed of one of the first and second output members relative to the other of the first and second output members; a third planetary gear assembly operatively engaged between the first planetary gear assembly and the second output member and configured to have a rotational axis that substantially aligns with the rotational axis of the driving shaft; a reaction member connecting sun gears of the second and third planetary gear assemblies, wherein the driving shaft is hollow and the reaction member extends therethrough; and a fourth planetary gear assembly disposed between the electric motor and the differential steering system, the fourth planetary gear assembly being configured to reduce the rotational speed of the driving shaft.
 2. The electric drive system of claim 1, further including a housing and wherein a ring gear of the third planetary gear assembly is fixed to the housing.
 3. The electric drive system of claim 1, wherein the driving shaft is an output shaft from the electric motor.
 4. The electric drive system of claim 1, wherein the differential steering motor operatively engages a ring gear of the second planetary gear assembly.
 5. The electric drive system of claim 1, wherein the first output member is connected to a planet gear of the second planetary gear assembly.
 6. The electric drive system of claim 1, wherein the ring gear of the first planetary gear assembly is connected to the planet gear set of the second planetary gear assembly.
 7. The electric drive system of claim 1, wherein the driving shaft is connected to a planet gear of the first planetary gear assembly.
 8. A method of assembling an electric drive system with an electric motor, comprising: providing a driving shaft drivable by the electric motor, the driving shaft having an axis of rotation; disposing a differential steering system between the driving shaft and the first and second output members, such that the driving shaft is configured to convey torque from the electric motor to the differential steering system; operatively engaging a first planetary gear assembly of the differential steering system between the driving shaft and the first output member and between the driving shaft and the second output member, wherein the first planetary gear assembly has an axis of rotation that substantially aligns with the axis of rotation of the driving shaft; operatively engaging a steering motor with the differential steering system to simultaneously adjust the rotational speed of both of the first and second output members to change the rotational speed of one of the first and second output members relative to the other of the first and second output members; operatively engaging a second planetary gear assembly of the differential steering system between the first planetary gear assembly and at least one of the first and second output members, the second planetary gear assembly having a sun gear connected to a sun gear of the first planetary gear assembly and the second planetary gear assembly having an axis of rotation that substantially aligns with the axis of rotation of the driving shaft; operatively engaging the steering motor with the second planetary gear assembly to modify the rotational speed of the second planetary gear assembly to thereby simultaneously adjust the rotational speed of both of the first and second output members to change the rotational speed of one of the first and second output members relative to the other of the first and second output members; operatively engaging a third planetary gear assembly of the differential assembly between the first planetary gear assembly and the second output member, the third planetary gear assembly having a rotational axis that substantially aligns with the rotational axis of the driving shaft, and wherein operatively engaging the second planetary gear assembly includes operatively engaging the second planetary gear assembly between the first planetary gear assembly and the first output member; and operatively engaging a fourth planetary gear assembly between the electric motor and the first planetary gear assembly, the fourth planetary gear assembly being configured to reduce the rotational speed of the output shaft.
 9. The method of claim 8, further including connecting sun gears of the second and third planetary gear assemblies with a reaction member.
 10. The method of claim 9, wherein the reaction member extends through the driving shaft.
 11. A mobile machine, comprising: a first ground engaging device; a second ground engaging device; a first output member connected to the first ground engaging device; a second output member connected to the second ground engaging device; an electric motor including a driving shaft having an axis of rotation, the driving shaft being operatively engaged with the first and second output members to rotate the first and second output members; a differential steering system operably disposed between the driving shaft and the first and second output members such that the driving shaft conveys torque from the electric motor to the differential steering system, the differential steering system including a first planetary gear assembly operatively engaged between the driving shaft and the first output member and operatively engaged between the driving shaft and the second output member, the first planetary gear assembly having an axis of rotation that substantially aligns with the axis of rotation of the driving shaft; a steering motor operatively engaged with the differential steering system and operable to simultaneously adjust the rotational speed of both of the first and second output members to change the rotational speed of one of the first and second output members relative to the other of the first and second output members; a second planetary gear assembly operatively engaged between the first planetary gear assembly and the first output member, the second planetary gear assembly having a sun gear connected to a sun gear of the first planetary gear assembly and having an axis of rotation that substantially aligns with the axis of rotation of the driving shaft, wherein the steering motor is operatively engaged with the second planetary gear assembly and operable to modify the rotational speed of the second planetary gear assembly to thereby simultaneously adjust the rotational speed of both of the first and second output members to change the rotational speed of one of the first and second output members relative to the other of the first and second output members; a third planetary gear assembly operatively engaged between the first planetary gear assembly and the second output member and configured to have a rotational axis that substantially aligns with the rotational axis of the driving shaft; a reaction member connecting sun gears of the second and third planetary gear assemblies, wherein the driving shaft is hollow and the reaction member extends therethrough; and a fourth planetary gear assembly disposed between the electric motor and the differential steering system, the fourth planetary gear assembly being configured to reduce the rotational speed of the driving shaft. 